I got to try fsd (supervised) recently, and although it wasn't perfect, it was pretty good.
I also had to learn to to enable adaptive driving (or whatever it is called) to let the car go slightly over the speed limit and go with the flow of traffic, otherwise it would only go the speed limit and people would rage-pass.
I suspect if it works well 99% of the time, which is pretty good, they're about half way to their goals. Making it work well 99.9999% is probably a lot harder.
I also had to learn to to enable adaptive driving (or whatever it is called) to let the car go slightly over the speed limit and go with the flow of traffic, otherwise it would only go the speed limit and people would rage-pass.